6自由度绳牵引并联起重机器人的研究进展

Research Development for 6-Degree-of-Freedom Wire-Driven Parallel Crane Robots

阐述绳牵引并联机器人的优点及应用领域,介绍基于矢量封闭原理,按绳的根数与末端执行器自由度数之间关系的绳牵引并联机器人的分类方法.指出每类机器人都可作为起重机器人用于货物吊装,以及在机构类型为欠约束的,由3根绳牵引的6自由度并联起重机器人的每个支链上加上1个移动自由度的杆支撑机构,从而产生新型6自由度机器人系统的概念.研究该类机器人机构构型配置与吊具可控工作空间的关系,提出简化而可行的反馈控制策略,以实用化吊具轨迹跟踪控制方案.拓展该新型6自由度机器人系统的含义,提出含3个刚柔混合支链的6自由度并联起重机器人的概念,并将其应用到对大型造船门式起重机的改造上.

At first the advantages and the applications of wire-driven parallel robots have been pointed out. Thereafter, the classification of wire-driven parallel robots has been given according to the vector-closure principle and the relationship between the number of wires and the number of degree of freedom （DOF） of the motions of the end-effector, and it has been stated that every class of wire-driven parallel robots can be used in cargo handling like a robot crane. Moreover, it has been stated that if each kinematic chain of a 6-DOF wire-driven parallel robot with 3 wires, the mechanism configuration of which belongs to URPMs （underrestrained positioning mechanisms）, is added a 1 translational DOF rigid mechanism, it will be a new type 6-DOF robot. The relationship between the mechanism configuration and controllable work space of the spreader is investigated, and a simple and suitable feedback control scheme for tracking control of trajectories of the spreader is proposed. The definition of this new type of 6-DOF robots is extended and the concept of 6-DOF parallel crane robots containing 3 rigid-and-flexible hybrid subchains is presented, and it has been used in reforming large-sized shipbuilding gantry cranes.